Model predictive control for autonomous underwater vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2019

Authors

Rui Gomes (Author) Other; Fernando Lobo Pereira (Author) FEUP

Conference proceedings International

Title: Procedia Computer Science

Pages: 19-27

13th International Symposium on Intelligent Systems, INTELS 2018

22 October 2018 through 24 October 2018

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-00Q-H0P

DOI: 10.1016/j.procs.2019.02.006

Abstract (EN): The Attainable Set Model Predictive Control scheme is discussed and shown to meet the needed system behavioral properties while satisfying real-time requirements underlying the control of Autonomous Underwater Vehicle formations, including the strict on-board resource constraints. More specifically, the proposed approach targets the on-line computational complexity and relies on taking advantage of the control problem time invariant elements, in order to replace, as much as possible, on-line by off-line computation, while guaranteeing asymptotic stability, and promoting the best trade-off between feedback control near optimality, and robustness to perturbations (due to disturbances, and uncertainties), and adaptivity to the environment variability. The data computed off-line is stored onboard in look-up tables, and recruited and adapted on-line with small computation effort according to the real-time context specified by communicated or sensed data. This scheme is particularly important to an increasing range of applications exhibiting severe real-time constraints. © 2019 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the 13th International Symposium ¿Intelligent Systems¿ (INTELS'18).

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 9